Infrared steering method and infrared steering system

ABSTRACT

An infrared steering method for controlling a plurality of infrared units being controlled with a plurality of infrared controllers, characterized in that the infrared controller compares the time interval between the end of a start signal and the start of a steering signal being transmitted with a predetermined time interval specific to each infrared unit being controlled and identifies a matching signal as a signal for the infrared unit being controlled.

FIELD OF THE INVENTION

The present invention relates to an infrared steering system forsteering with use of an infrared ray a device which receives a radiosignal through a means for transmitting a radio signal.

BACKGROUND ART

The conventional infrared steering system for steering a plurality ofconventional steered cars controls each steered object by transmittingwith time-sharing a steering information and an object identificationsignal for specifying the steered object from each transmitting means.Furthermore, this transmitting means may identify the other transmittingmeans used in the vicinity simultaneously and is synchronized withsignal transmission timing between reciprocal transmitting means to andcontrol separately about four steered cars.

The above-mentioned conventional infrared steering system, however,entails a problem of the limited number of the steered cars capable oftravelling simultaneously on account of use of prolonged time fortransmission of each object identification information and digitalsteering informations.

Thus, an object of the present invention is to provide an infraredsteering system and a method thereof for enabling to increase the numberof the objective steered cars capable of travelling simultaneously byreducing a transmission time occupied by each transmission device intransmitting and receiving the steering information as an analog signalfree of the object identification signal.

DISCLOSURE OF THE INVENTION

An infrared steering system according to the invention comprises acarrier wave generating means for producing an infrared carrier wavesignal, an inputting means for receiving a steering informationaccording to an operation, an object setting means for providing anobject identification information for specifying a steered object, ameans for discovering a transmission information from anothertransmitting means and then transmitting when a synchronization signalis received the steering information by the identification informationafter a specific waiting time, a means for transmitting asynchronization signal when free and then transmitting the steeringinformation from the identification information after the specificwaiting time, a means for receiving the infrared carrier wave signal, aself setting means for providing a self identification information, ameans for extracting the self steering information from the receptionsignal by means of the self identification information, a signalconversion means for converting the extracted steering information intoa driving signal, and a drive controlling means for operating a drivingmeans in response to the driving signal. According to the presentinvention, only the common synchronization signal and a plurality ofsteering informations are used without outputting individualidentification signal to minimize the transmission time occupied by eachtransmitting means.

Furthermore, the infrared steering method according to the presentinvention for controlling a plurality of infrared controlled deviceswith a plurality of infrared controlling devices is characterized inthat a matching signal is identified as a signal for the infraredcontrolled device in comparison with a time interval between thetermination time of a start signal and the initiation time of a steeringsignal transmitted by the infrared controlling device with a specifictime interval previously fixed in every infrared controlled device.

The infrared controlling device may transmit the synchronization signaland the start signal and may output the steering signal after thewaiting time previously determined.

The infrared controlling device may output the start signal when theinfrared signal transmitted by the other infrared controlling devicewith the synchronization signal is received and may output the startsignal after outputting the synchronization signal when free.

A specific time length previously fixed in every infrared controlleddevice or the time interval between the termination time of the startsignal and the initiation time of the steering signal may be determinedin accordance with a layout of switch provided in an ID setting sectionof the infrared controlling device.

The infrared controlled device receives the synchronization signal andthe start signal, further receives the steering signal to measure thetime interval between the termination time of the start signal and theinitiation time of the steering signal and compares with the waitingtime fixed previously for self-identification.

Also, the infrared steering system according to the present inventionfor controlling a plurality of infrared controlled devices with aplurality of infrared controlling devices is characterized in that thematching signal is identified as a signal for the infrared controlleddevice in comparing the time interval between the termination time ofthe start signal and the initiation time of the steering signal with thespecific time interval previously fixed in every infrared controlleddevice.

The infrared controlling device according to the invention may providean inputting means for receiving the steering information, an objectsetting means for providing an object identification information forspecifying a steered object, a means for transmitting the steeringinformation, and a means for receiving a transmission signal of theother infrared controlling device.

The infrared controlled device according to the invention may provide aself setting means for providing self identification information, ameans for extracting self steering information from the reception signalby means of the self identification information, a signal convertingmeans for converting the extracted steering information into a drivingsignal, and a drive controlling means for operating a driving means inresponse to the driving signal.

Moreover, an infrared steering program according to the presentinvention for controlling a plurality of infrared controlled deviceswith a plurality of infrared controlling devices is characterized inthat a matching signal is identified as a signal for the infraredcontrolled device in comparing the time interval between the terminationtime of the start signal and the initiation time of the steering signaltransmitted by the infrared controlling device with the specific timeinterval previously fixed in every infrared controlled device.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a pictorial view showing an embodiment of an infrared steeringsystem according to the present invention;

FIG. 2 is a block diagram of a steering device showing the embodiment ofthe infrared steering system according to the present invention;

FIG. 3 is a flowchart of the steering controlling process showing theembodiment of the infrared steering system according to the presentinvention;

FIG. 4 is a wave form chart showing a transmission mode of atransmission signal of the embodiment of the infrared steering systemaccording to the present invention;

FIG. 5 is a wave form chart of the transmission signal showing theembodiment of an infrared steering method according to the presentinvention;

FIG. 6 is a block diagram of the steered object showing the embodimentof the infrared steering system according to the present invention;

FIG. 7 is a block diagram of the steered object showing the secondembodiment of the infrared steering system according to the presentinvention;

FIG. 8 is a flowchart of the steering controlling process showing thesecond embodiment of the infrared steering method according to thepresent invention.

BEST MODE FOR CARRYING OUT THE INVENTION

Other details, advantages, and characteristics will be apparent from thefollowing embodiments with reference to the accompanying drawings.

The embodiment according to the present invention will be described indetail with reference to the drawings. FIG. 1 shows a constitution of aninfrared steering system of an embodiment. A plurality of infraredcontrollers 2, 4, 6, 8, 10 are respectively provided with an infraredphoto acceptance unit for determination of whether or not thesynchronization signal is outputted in response to presence or absenceof other infrared transmission signals to transmit an infrared carrierwave signal together with a steering information. As described later,the five infrared controllers 2, 4, 6, 8, 10, are respectively providedin their internal memory device with ID of an identification informationfor identifying a steered object and are classified into five types of 1to 5. Furthermore, the infrared controllers 2, 4, 6, 8, 10 transmitsinfrared signals synchronized between reciprocal transmitting meansrespectively.

Meanwhile, the five infrared controlled cars (hereinafter referred to asIR car) 12, 14, 16, 18, 20 of the steered objects of the infraredcontrollers 2, 4, 6, 8, 10 are provided with a driving means comprisingan infrared controlled device, a motor, wheels, and other mechanism (notshown) and with ID for identifying itself. Further, IR cars 12, 14, 16,18, 20 receive the synchronized infrared signals e1, e2, e3, e4, e5 fromthe infrared controllers 2, 4, 6, 8, 10 to decode the steeringinformation included in the infrared ray.

Next, arrangements of the infrared controllers 2, 4, 6, 8, 10 and the IRcars 12, 14, 16, 18, 20 shall be described in FIG. 1. FIG. 2 is a blockdiagram of the infrared controllers 2, 4, 6, 8, 10 showing an embodimentof the infrared steering system according to the invention, where theinfrared controller 2 and the IR car 12 are described as examples.

In the infrared controller 2, an operation switch 22 and an ID switch 24are electrically connected with a CPU 26 which is in turn electricallyconnected with an infrared LED 28 and an infrared receiving means 30.

The operation switch 22 is a means of inputting the steering informationfor steering the IR car 12. The operation switch 22 is provided withcontrol switches including a steering operation switch for controllingtravelling direction (not shown) and a driving switch for controllingtravelling operation.

The ID switch 24 is constituted of a three bits digital switch, which isa switch for inputting a setting information for specifying eight typesof the IR car 12 identified by means of three bits 000, 001, 010, . . ., 111, and is an object setting means for providing an objectidentification information for specifying the steered object. The IDswitch 24 is constituted as a variable switch capable of setting by auser. Furthermore, the ID switch is not limited to three bits. Largerthe number of bits, more steerable cars available.

The CPU 26 is constituted of one chip microcomputer including a ROM(program memory) and a RAM (work memory) though both are not shown andhas a function of storing data into the RAM which is inputted from portscorresponding to the data of the operation switch 22 and the ID switch24. The CPU 26 runs a program stored in the ROM and controls theinfrared controller 2 in accordance with the program.

The CPU 26 also selects a single transmission mode among fivetransmission modes corresponding to five types of ID set by the IDswitch 24 and determines a waiting time from a synchronization signalwith reference to the object identification information set by the IDswitch 24 in accordance with the selected transmission mode to convertthe steering information inputted from the operation switch 22 into amodulated signal.

The infrared LED 28 is an LED which receives the modulated signal andmodulates an infrared carrier wave to emit the infrared signals e1, e2,e3, e4, e5.

The infrared receiving means 30 is a receiving means having a functionof monitoring whether the synchronization signal is outputted from theother transmitting means. When the synchronization signal transmitted bythe other transmitting means is received to synchronize with thesynchronization signal and output a control signal. When thesynchronization signal is not received, the synchronization signal isfunctionally outputted.

Subsequently, movement of the infrared controller 2 shall be describedwith reference to a flowchart (FIG. 3) run by the CPU 26. In FIG. 3, theCPU 26 first performs initialization (step S101) of the memory (RAM) andruns following loop process. Then, the CPU obtains a port data from aport corresponding to the ID switch 24 (step S102). Next, the CPU 26calculates and determines (step S103) the waiting times (1), (2) from IDdata in a predetermined manner. The waiting times (1), (2) are a processof selecting a transmission mode in response to the ID obtained from theID switch 24 among the five transmission modes for transmitting thesteering information after elapse of five different waiting times fromthe start signal.

FIG. 4 shows five transmission modes for transmitting informationintermittently within the five different waiting times. In the drawing,first, TYPE 1 detects no synchronization signal but outputs thesynchronization signal and a start signal, then outputs the steeringinformation signal after the waiting time (2), and outputs thesynchronization signal after an interval of the waiting time (1). TYPE 1repeats the processes. Each of TYPE 2 to TYPE 5 receives thesynchronization signal, synchronizes and outputs the start signal tooutput each steering information signal after the each waiting time (2).

FIG. 5 shows a timing chart of a data unit of period A in a TYPE, wheresynchronization is a period for synchronizing with the othertransmitting means. Next period of START is, a start data indicating thebeginning of a data. Each TYPE is distinguished depending on differencein the next period of WAIT (2). Then, the steering information isinputted and the time length of CH1, CH2, CH3 varies depending onelectric potential of a control volume. The data unit is repeated aftera period of WAIT (1).

In FIG. 3, the CPU obtains the steering information and each types ofinformation from the operation switch 22 (step S104, S108, S109) anddetermines the steering information.

The infrared controller 2 has a charging function and performsmeasurement (step S105) of the reference voltage and measurement (stepS105) of the battery terminal voltage. And then, the CPU determines(step S107) presence/absence of a battery and the charging is initiated(step S116) when the battery is connected. After that, the CPUdetermines whether or not two-minute charge time is terminated (stepS117) and whether the battery is removed from the infrared controller 2(step S118). The CPU performs charge termination process (step S119)finally reconfirms presence or absence of the battery (step S120) andreturns to the condition of obtaining the ID data (step S102).

When the battery for charge is not connected to the infrared controller2, the transmission mode takes place, and then the CPU obtains theinformation of presence/absence of synchronization signal from theinfrared receiving means 30 (step S110). When the synchronization signalis not detected during the waiting time (1) determined at ID setting(step S111), the synchronization signal is outputted automatically (stepS112) in the order of start signal, waiting time (2) and steering signal(step S113, S114, S115).

A mechanism of an IR car 12 has two models. Model A controls travellingdirections and travelling forward and backward by driving right wheels(WHEEL) and left wheels independently and model B controls thetravelling directions and the travelling forward and backward bysteering drive and travelling drive forward and backward. Either modelsare provided with two motors. Model A is constituted of a RIGHT motorfor the right wheel drive and a LEFT motor for left wheel drive. Model Bis constituted of a STEERING motor for a steering mechanism drive and aWHEEL motor for wheel drive.

FIG. 6 is a block diagram showing an arrangement of a reception unit ofthe infrared steering system of the IR car 12 of model A.

In the reception unit of the infrared steering system of the IR car 12,the infrared receiving means 32 and CPU 34 are electrically connected.Moreover, the CPU 34 and an ID switch 36 are electrically connected.Furthermore, the CPU 34 is electrically connected to an R motor driver38 which is an right motor drive unit. The R motor driver 38 iselectrically connected to an an R motor 40 which is mechanicallyconnected to an R wheel 42. In left motor, similarly, the CPU 34 iselectrically connected to an L motor driver 44 which is left motordriver unit. The L motor driver 44 is electrically connected to an Lmotor 46 which is mechanically connected to an L wheel 48.

The infrared receiving means 32 receives an infrared signal transmittedfrom the infrared controller 2 to convert the infrared signal into anelectric signal.

The CPU 34 is constituted of one chip microcomputer including a ROM(program memory) and a RAM (work memory) which are not shown. The CPU 34extracts the steering information obtained from the infrared receivingmeans 32 from a self-identification information and decodes the steeringinformation produced by the infrared controller 2 to store in the RAM.Then, the program stored in the ROM is retrieved so that IR car 12 iscontrolled.

The ID switch 36 is constituted of 3 bits digital switch. The 3 bitsdigital switch is a switch capable of setting eight types of numericalvalues consisting of 000, 001, 010, . . . 111. Each value corresponds toeight types identified, the IR car 12 identifies itself from the settingand the switch 36 constitutes a self setting means for providing theself-identification information. The ID switch 36 is previously setduring the manufacturing step and may be conveniently identified with asticker and the like.

The CPU 34 after receiving the start signal extracts the signal laterthan the waiting time (2) in accordance with the self-identificationinformation set by the ID switch 36 to convert the steering informationinto a driving signal. Thus, the CPU 34 extracts the steeringinformation after the waiting time (2) set by theself-setting ID switch36 from the start signal received in the infrared receiving means 32 andconstitutes a signal converting means for converting into the drivingsignal.

The R (RIGHT) motor driver 38 converts an R motor data from the CPU 34into the driving signal and supplies to the R motor 40 to drive theright wheel mechanism 42 (RWHEEL).

Also, the L motor driver 44 (LEFT) converts an L motor data from the CPU34 into the driving signal and supplies to the L motor 46 to drive theleft wheel mechanism 48.

FIG. 7 is a block diagram showing constitution of a system of the IR car12 of the model B. In thedrawing, units having the same constitution asthe IR car 12 of the model A in FIG. 6 are shown by the same referenceand description overlapping with the description in FIG. 6 is omitted.In FIG. 7, a steering motor driver 50 converts an S (STEERING) motordata from the CPU 34 into the driving signal and supplies to an S motor52 to drive a steering (STEERING) mechanism 54.

Also, a W (WHEEL) motor driver 56 converts a W motor data from the CPU34 into the driving signal and supplies to a W motor 58 to drive bothwheel (WHEEL) mechanisms 60. Next, operations of the IR car 12 of themodel A and the model B shall be described with reference to a flowchartwhich is run by the CPU 26. In FIG. 8, the CPU initially performsinitialization of a port and the like (step S201), and runs thefollowing loop process. The CPU 26 obtains the ID data from an inputport to determine the waiting time (1), (2) (step S202, S203). Then, theCPU 26 performs initialization of memory (RAM) (step S205) and checksthe start data of the received infrared signal (step S204). Or the CPU26 detects the start data which indicates the beginning of the data in atiming chart shown in FIG. 5. When the CPU 26 detects no start pulse(absence), the CPU 26 continues check of the start data of step S205.When detecting the start pulse (presence), the CPU 26 performsmeasurement of CH1 data (step S206, S207) after the waiting time (2)determined by the ID data after the start pulse.

After obtaining the CH1 data, the CPU 26 discriminates the model (stepS208) so that whether its own model is the model A or the model B may bediscriminated. The discrimination is performed by a model SW. In case ofthe model A, output setting of the R motor 40 is performed (step S209),and the output setting of the L motor 46 is performed (step S210).Meanwhile, in case of the model B, the only output setting of the Lmotor 46 is performed (step S210).

Next, similarly to the CH1, the CPU 26 performs the discrimination ofthe model after obtaining the CH2 data and the CH3 data (step S211,S212). In case of own model A, the output setting of L motor and R motortakes place (step S214, S215). While, in case of the model B, onlysetting of the R motor 40 takes place (step S215).

The data is stored in memory (RAM) after each output setting (stepS216).

After the output setting, the CPU 26 returns to the step S204 to checkthe start pulse. An output control is performed by the timerinterruption. The CPU 26 discriminates whether or not values of timerresistors TF, TH of the RAM have reached values of T1, T2 setpreviously. The values of the timer resistors TF, TH are increased atevery timer interruption (step S217). When the value of the TF reachesT1, the CPU 26 clears the output data (step S220) or retrieves the data(step S221) in response to presence or absence of a reception data (stepS218, S219).

Next, when the value of the TH reaches the value of the T2 (step S222),the CPU 26 once updates the output (half reset, step S223). Finally, theoutput data is outputted to a corresponding motor driver (step S224).After that, the timer interruption is terminated to return to the mainroutine.

Thus, in the embodiment, the infrared controller 2 is constituted of ainputting means for receiving the steering information in response tooperation, an infrared receiving means for detecting out put of aninfrared radio signal from the other transmitting means, an objectsetting means for providing an object identification information forspecifying a steering object, a mode selecting means for selecting oneof the transmission modes in response to the object identificationinformation, a signal converting means for converting a synchronizationsignal, a start signal, and a steering information into a modulatedsignal, and a transmitting means for transmitting the infrared radiosignal to which an infrared carrier wave signal is modulated by themodulated signal.

Also, the IR car 12 is constituted of a self setting means for providinga self-identification information, a means for receiving the infraredsignal from the infrared controller 2, a means for extracting thesteering information which is included in the infrared signal receivedby the receiving means, a signal converting means for converting theextracted steering information into the driving signal, and a drivecontrolling means for operating a driving means in response to thedriving signal.

According to the embodiment, a plurality of steered objects areextracted in response to the time from the start signal free of theidentification signal by synchronizing between the transmitting meansand different infrared radio signals are made depending on difference intime from the start signal. Thus, the identification information becomesunnecessary for each radio signal. Transmission time during which eachtransmitting means occupies may be abbreviated, so that more objects maybe steered.

Furthermore, in the embodiment, the switch 36 for setting the ID at theside of the IR car 12 is provided previously set at the manufacturingoperation, notwithstanding the switch 36 may be arranged by user's freeoperation. Namely, in the IR car 12, the object identificationinformation and the self-identification information are set in responseto operation. Thus, users may set ID at the best conditions. Forexample, when common ID systems exist, ID setting may be changed inorder to perform the steering simultaneously.

In the embodiment, the infrared ray is used as a radio signal carryingthe steering information. VHF band and other electromagnetic wave may beused for the carrier wave.

1. An infrared steering method for controlling a plurality of infraredcontrolled devices with a plurality of infrared controlling devices,characterized in that a matching signal is identified as a signal forthe infrared controlled device by comparing a time interval between thetermination time of a start signal and the initiation time of a steeringsignal transmitted by the infrared controlling device with a specifictime interval previously fixed in every infrared controlled device. 2.An infrared steering method according to claim 1, characterized in thatthe infrared controlling device transmits a synchronization signal andthe start signal to output the steering signal after a waiting timepreviously determined.
 3. An infrared steering method according to claim1, characterized in that the infrared controlling device outputs thestart signal when the infrared signal transmitted by another infraredcontrolling device with the synchronization signal is received andoutputs the start signal after outputting the synchronization signalwhen free.
 4. An infrared steering method according to claim 1,characterized in that a specific time length previously fixed in everyinfrared controlled device of the time interval between the terminationtime of the start signal and the initiation time of the steering signalis determined in accordance with a layout of the switch provided in anID setting section of the infrared controlling device.
 5. An infraredsteering method according to claim 1, characterized in that the infraredcontrolled device receives the synchronization signal and the startsignal, and then receives the steering signal to measure the timeinterval between the termination time of the synchronization signal andthe initiation time of the steering signal and compares with the waitingtime fixed previously for self-identification.
 6. An infrared steeringsystem for controlling a plurality of infrared controlled devices with aplurality of infrared controlling devices, characterized in that thematching signal is identified as the signal for the infrared controlleddevice by comparing the time interval between the termination time ofthe start signal and the initiation time of the steering signaltransmitted by the infrared controlling device with the specific timeinterval previously fixed in every infrared controlled device.
 7. Aninfrared steering system according to claim 6, characterized in that theinfrared controlling device is provided with a inputting means forreceiving a steering information, an object setting means for providingan object identification information for specifying a steered object, ameans for transmitting the steering information, a means for receiving atransmission signal of the other infrared controlling device.
 8. Aninfrared steering system according to claim 6, characterized in that theinfrared controlled device is provided with a self setting means forproviding a self-identification information, a means for extracting aself steering information from a reception signal by theself-identification information, a signal converting means forconverting the extracted steering information into a driving signal, adrive controlling means for operating a driving means in response to thedriving signal.
 9. An infrared steering program for controlling aplurality of infrared controlled devices with a plurality of infraredcontrolling devices, characterized in that the matching signal isidentified as the signal for the infrared controlled device by comparingthe time interval between the termination time of the start signal andthe initiation time of the steering signal transmitted by the infraredcontrolling device with the specific time interval previously fixed inevery infrared controlled device.